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17 #ifndef GZ_SENSORS_DEPTHCAMERASENSOR_HH_
18 #define GZ_SENSORS_DEPTHCAMERASENSOR_HH_
26 #include <gz/common/Event.hh>
27 #include <gz/common/SuppressWarning.hh>
31 #pragma warning(disable: 4005)
32 #pragma warning(disable: 4251)
34 #include <ignition/msgs.hh>
43 #pragma warning(disable: 4251)
45 #include <gz/rendering/DepthCamera.hh>
50 #include "gz/sensors/depth_camera/Export.hh"
52 #include "gz/sensors/Export.hh"
60 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
62 class DepthCameraSensorPrivate;
83 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
88 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
92 public:
virtual bool Init()
override;
97 public:
virtual bool Update(
98 const std::chrono::steady_clock::duration &_now)
override;
103 public:
virtual rendering::DepthCameraPtr DepthCamera();
111 public:
void OnNewDepthFrame(
const float *_scan,
112 unsigned int _width,
unsigned int _height,
122 public:
void OnNewRgbPointCloud(
const float *_data,
123 unsigned int _width,
unsigned int _height,
135 public: gz::common::ConnectionPtr ConnectImageCallback(
137 void(
const gz::msgs::Image &)> _callback);
141 public:
virtual void SetScene(
142 gz::rendering::ScenePtr _scene)
override;
146 public:
virtual unsigned int ImageWidth()
const override;
150 public:
virtual unsigned int ImageHeight()
const override;
154 public:
virtual double FarClip()
const;
158 public:
virtual double NearClip()
const;
163 public:
bool HasConnections()
const;
168 public:
bool HasDepthConnections()
const;
173 public:
bool HasPointConnections()
const;
177 private:
bool CreateCamera();
182 private:
void OnSceneChange(gz::rendering::ScenePtr )
185 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
189 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:31
Depth camera sensor class.
Definition: gz/sensors/DepthCameraSensor.hh:71
Camera Sensor Class.
Definition: gz/sensors/CameraSensor.hh:71